8,769 research outputs found
Fusion of Head and Full-Body Detectors for Multi-Object Tracking
In order to track all persons in a scene, the tracking-by-detection paradigm
has proven to be a very effective approach. Yet, relying solely on a single
detector is also a major limitation, as useful image information might be
ignored. Consequently, this work demonstrates how to fuse two detectors into a
tracking system. To obtain the trajectories, we propose to formulate tracking
as a weighted graph labeling problem, resulting in a binary quadratic program.
As such problems are NP-hard, the solution can only be approximated. Based on
the Frank-Wolfe algorithm, we present a new solver that is crucial to handle
such difficult problems. Evaluation on pedestrian tracking is provided for
multiple scenarios, showing superior results over single detector tracking and
standard QP-solvers. Finally, our tracker ranks 2nd on the MOT16 benchmark and
1st on the new MOT17 benchmark, outperforming over 90 trackers.Comment: 10 pages, 4 figures; Winner of the MOT17 challenge; CVPRW 201
DecideNet: Counting Varying Density Crowds Through Attention Guided Detection and Density Estimation
In real-world crowd counting applications, the crowd densities vary greatly
in spatial and temporal domains. A detection based counting method will
estimate crowds accurately in low density scenes, while its reliability in
congested areas is downgraded. A regression based approach, on the other hand,
captures the general density information in crowded regions. Without knowing
the location of each person, it tends to overestimate the count in low density
areas. Thus, exclusively using either one of them is not sufficient to handle
all kinds of scenes with varying densities. To address this issue, a novel
end-to-end crowd counting framework, named DecideNet (DEteCtIon and Density
Estimation Network) is proposed. It can adaptively decide the appropriate
counting mode for different locations on the image based on its real density
conditions. DecideNet starts with estimating the crowd density by generating
detection and regression based density maps separately. To capture inevitable
variation in densities, it incorporates an attention module, meant to
adaptively assess the reliability of the two types of estimations. The final
crowd counts are obtained with the guidance of the attention module to adopt
suitable estimations from the two kinds of density maps. Experimental results
show that our method achieves state-of-the-art performance on three challenging
crowd counting datasets.Comment: CVPR 201
A bank of unscented Kalman filters for multimodal human perception with mobile service robots
A new generation of mobile service robots could be ready soon to operate in human environments if they can robustly estimate position and identity of surrounding people. Researchers in this field face a number of challenging problems, among which sensor uncertainties and real-time constraints.
In this paper, we propose a novel and efficient solution for simultaneous tracking and recognition of people within the observation range of a mobile robot. Multisensor techniques for legs and face detection are fused in a robust probabilistic framework to height, clothes and face recognition algorithms. The system is based on an efficient bank of Unscented Kalman Filters that keeps a multi-hypothesis estimate of the person being tracked, including the case where the latter is unknown to the robot.
Several experiments with real mobile robots are presented to validate the proposed approach. They show that our solutions can improve the robot's perception and recognition of humans, providing a useful contribution for the future application of service robotics
Multiple human tracking in RGB-depth data: A survey
Ā© The Institution of Engineering and Technology. Multiple human tracking (MHT) is a fundamental task in many computer vision applications. Appearance-based approaches, primarily formulated on RGB data, are constrained and affected by problems arising from occlusions and/or illumination variations. In recent years, the arrival of cheap RGB-depth devices has led to many new approaches to MHT, and many of these integrate colour and depth cues to improve each and every stage of the process. In this survey, the authors present the common processing pipeline of these methods and review their methodology based (a) on how they implement this pipeline and (b) on what role depth plays within each stage of it. They identify and introduce existing, publicly available, benchmark datasets and software resources that fuse colour and depth data for MHT. Finally, they present a brief comparative evaluation of the performance of those works that have applied their methods to these datasets
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